version: 66.04
glider: 167
mission: 2
dive: 408
start: 7 27 109 6 48 29
data:
$ID,167
$MISSION,2
$DIVE,408
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,100
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,253
$T_MISSION,304
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51932
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-13744.27
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2545
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2483
$C_ROLL_CLIMB,2396
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,99
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,389
$VBD_MAX,3987
$C_VBD,3532
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.600696
$PRESSURE_SLOPE,0.0001158971
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043387017
$SEABIRD_T_H,0.00063414662
$SEABIRD_T_I,2.5692387e-05
$SEABIRD_T_J,2.8978091e-06
$SEABIRD_C_G,-9.8799791
$SEABIRD_C_H,1.1029794
$SEABIRD_C_I,-0.0010948726
$SEABIRD_C_J,0.00016878155
$GPS1,064106,2444.907,12426.818,29,1.1,30,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-66.3
$GPS2,064808,2444.943,12426.764,12,1.3,12,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2446.900,12428.200
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,44.2,4355,-24.8,-13.043
$D_GRID,909
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.25,-121.7,0.0,0.0,0,62,0.00,0.00,-44.55,0.000,2,0.000,0.000,142,2432,2452
$GC,66,-1.25,-121.7,3.4,-3.4,7,126,8.15,2.12,-45.67,0.000,4,0.232,0.054,2126,3756,3989
$GC,329,-0.85,-121.7,49.5,-19.5,53,337,0.50,1.80,0.00,0.000,6,0.163,0.022,2267,2483,3991
$GC,677,-1.28,-121.7,88.2,-10.6,114,683,0.32,1.98,0.00,0.000,4,0.053,0.023,2126,1097,3992
$GC,735,-1.04,-121.7,96.4,-15.0,124,742,0.32,2.05,0.00,0.000,6,0.160,0.029,2209,2484,3992
$GC,1080,-1.29,-121.7,136.9,-11.6,185,1089,0.20,2.00,0.00,0.000,4,0.062,0.022,2120,1093,3994
$GC,1131,-1.08,-121.7,144.1,-14.6,193,1139,0.30,1.98,0.00,0.000,6,0.155,0.028,2195,2441,3994
$GC,1479,-1.34,-121.7,183.4,-9.3,254,1485,0.20,0.00,0.00,0.000,6,0.061,0.000,2106,2443,3996
$GC,1824,-1.18,-121.7,227.3,-15.1,315,1830,0.17,2.00,0.00,0.000,4,0.162,0.041,2151,3761,3995
$GC,1871,-1.07,-121.7,234.2,-14.2,323,1877,0.17,1.88,0.00,0.000,6,0.158,0.022,2197,2418,3996
$GC,2216,-1.36,-121.7,273.3,-9.6,384,2222,0.22,1.88,0.00,0.000,4,0.061,0.024,2096,1090,3996
$GC,2240,-1.36,-121.7,275.8,-10.3,388,2246,0.00,1.98,0.00,0.000,6,0.000,0.028,2089,2439,3996
$GC,2585,-1.16,-121.7,311.4,-11.0,440,2589,0.25,2.00,0.00,0.000,4,0.164,0.043,2162,3759,3996
$GC,2748,-1.16,-121.7,329.8,-11.5,454,2754,0.00,1.83,0.00,0.000,6,0.000,0.023,2162,2450,3996
$GC,3076,-1.37,-121.7,366.1,-10.7,485,3080,0.17,1.90,0.00,0.000,4,0.067,0.025,2088,1114,3996
$GC,3105,-1.37,-121.7,369.8,-12.4,487,3111,0.00,2.00,0.00,0.000,6,0.000,0.029,2085,2468,3996
$GC,3431,-1.22,-121.7,404.0,-10.0,518,3435,0.20,1.95,0.00,0.000,4,0.167,0.043,2138,3763,3996
$GC,3501,-1.22,-121.7,410.6,-10.1,524,3505,0.00,1.83,0.00,0.000,6,0.000,0.025,2138,2497,3996
$GC,3832,-1.31,-121.7,444.0,-10.8,555,3835,0.00,2.00,0.00,0.000,4,0.000,0.026,2138,1097,3995
$GC,3890,-1.31,-121.7,451.0,-11.8,560,3894,0.00,2.05,0.00,0.000,6,0.000,0.031,2137,2473,3995
$GC,4221,-1.48,-121.7,486.9,-10.4,591,4225,0.20,2.00,0.00,0.000,4,0.067,0.025,2050,1111,3993
$GC,4272,-1.24,-121.7,493.2,-12.7,595,4279,0.35,2.03,0.00,0.000,6,0.171,0.030,2139,2461,3993
$GC,4593,-1.37,-121.7,521.8,-8.0,614,4598,0.12,2.00,0.00,0.000,4,0.081,0.045,2084,3767,3992
$GC,4639,-1.20,-121.7,526.3,-10.4,616,4643,0.28,1.88,0.00,0.000,6,0.164,0.023,2160,2453,3992
$GC,4974,-1.46,-121.7,555.0,-9.4,632,4979,0.20,1.95,0.00,0.000,4,0.067,0.025,2074,1106,3990
$GC,5036,-1.32,-121.7,562.6,-12.0,634,5043,0.17,2.00,0.00,0.000,6,0.171,0.032,2115,2440,3989
$GC,5354,-1.46,-121.7,594.5,-9.8,650,5356,0.12,0.00,0.00,0.000,6,0.084,0.000,2068,2441,3987
$GC,5662,-1.27,-121.7,629.3,-13.6,665,5666,0.20,1.98,0.00,0.000,4,0.177,0.025,2125,1105,3985
$GC,5708,-1.27,-121.7,634.7,-11.6,667,5712,0.00,2.03,0.00,0.000,6,0.000,0.032,2125,2435,3984
$GC,6042,-1.42,-121.7,670.9,-10.6,683,6044,0.12,0.00,0.00,0.000,6,0.084,0.000,2076,2437,3981
$GC,6352,-1.30,-121.7,707.5,-11.3,698,6357,0.17,1.95,0.00,0.000,4,0.173,0.025,2126,1103,3980
$GC,6403,-1.36,-121.7,713.2,-9.9,700,6407,0.00,2.00,0.00,0.000,6,0.000,0.034,2126,2431,3979
$GC,6730,-1.42,-121.7,744.5,-9.5,716,6734,0.12,2.08,0.00,0.000,4,0.087,0.048,2070,3766,3976
$GC,6911,-1.19,-121.7,766.1,-11.5,724,6915,0.32,1.92,0.00,0.000,6,0.172,0.027,2158,2450,3974
$GC,7241,-1.50,-121.7,791.3,-6.9,740,7245,0.25,1.98,0.00,0.000,4,0.069,0.028,2060,1089,3972
$GC,7489,-1.32,-121.7,815.7,-9.6,751,7493,0.22,2.00,0.00,0.000,6,0.176,0.036,2115,2403,3971
$GC,7815,-1.32,-121.7,838.7,-7.3,767,7819,0.00,2.12,0.00,0.000,4,0.000,0.051,2110,3760,3968
$GC,7872,-1.25,-121.7,843.4,-9.8,769,7876,0.12,2.00,0.00,0.000,6,0.154,0.026,2142,2387,3969
$GC,8195,-1.34,-121.7,866.0,-8.1,785,8198,0.00,2.17,0.00,0.000,4,0.000,0.051,2139,3757,3967
$GC,8309,-1.39,-121.7,874.4,-7.2,790,8313,0.12,1.95,0.00,0.000,6,0.087,0.028,2092,2429,3966
$STATE,8638,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8638,begin apogee
$GC,8648,-0.22,0.0,911.3,12.3,806,8749,1.30,0.00,92.35,1.323,6,0.165,0.000,2464,2429,3532
$STATE,8749,end apogee,CONTROL_FINISHED_OK
$STATE,8750,begin climb
$GC,8752,1.25,121.7,917.7,0.0,811,8863,1.35,2.28,102.28,1.305,4,0.067,0.030,2951,1019,3034
$GC,9118,0.83,219.2,910.2,6.1,827,9206,0.52,2.15,80.12,1.296,6,0.209,0.039,2818,2403,2637
$GC,9523,0.87,250.8,869.7,10.8,847,9554,0.00,2.17,25.33,1.247,4,0.000,0.052,2817,3756,2511
$GC,9711,0.75,263.9,847.7,12.1,855,9731,0.15,2.08,12.32,1.167,6,0.195,0.025,2790,2373,2455
$GC,10050,0.84,276.7,808.8,12.1,872,10068,0.00,2.28,12.32,1.169,4,0.000,0.050,2791,3752,2402
$GC,10079,0.84,276.7,804.2,13.7,873,10083,0.00,2.10,0.00,0.000,6,0.000,0.025,2798,2361,2401
$GC,10400,0.89,276.7,764.4,13.1,889,10404,0.00,2.05,0.00,0.000,4,0.000,0.033,2805,989,2399
$GC,10442,0.98,276.7,759.2,13.8,890,10449,0.15,2.10,0.00,0.000,6,0.077,0.033,2863,2364,2399
$GC,10759,0.86,276.7,715.4,13.7,906,10763,0.15,2.20,0.00,0.000,4,0.196,0.049,2827,3767,2398
$GC,10846,0.72,276.7,703.8,14.1,910,10850,0.22,2.10,0.00,0.000,6,0.193,0.025,2778,2341,2397
$GC,11179,0.96,340.7,674.4,8.5,926,11243,0.20,2.15,52.83,1.198,4,0.077,0.033,2868,995,2142
$GC,11315,0.96,340.7,656.7,13.5,932,11319,0.00,2.12,0.00,0.000,6,0.000,0.035,2868,2350,2139
$GC,11647,0.96,340.7,608.4,14.5,948,11651,0.00,2.22,0.00,0.000,4,0.000,0.051,2868,3759,2134
$GC,11720,0.82,340.7,597.4,14.1,951,11725,0.25,2.10,0.00,0.000,6,0.190,0.025,2811,2355,2133
$GC,12048,1.06,402.9,567.8,8.6,967,12105,0.20,2.10,51.45,1.121,4,0.077,0.032,2900,1001,1887
$GC,12144,1.06,402.9,554.9,13.9,970,12150,0.00,2.12,0.00,0.000,6,0.000,0.035,2900,2348,1883
$GC,12462,1.06,402.9,506.8,16.1,986,12465,0.00,2.05,0.00,0.000,4,0.000,0.031,2909,995,1879
$GC,12523,1.01,402.9,497.0,14.8,989,12531,0.15,2.05,0.00,0.000,6,0.187,0.034,2873,2333,1878
$GC,12849,1.11,416.7,457.6,12.1,1020,12862,0.00,0.00,11.23,0.967,6,0.000,0.000,2873,2333,1833
$GC,13179,1.24,438.8,418.8,11.5,1051,13204,0.20,2.08,19.77,0.979,4,0.075,0.032,2964,1004,1742
$GC,13250,1.14,438.8,407.8,16.0,1057,13258,0.20,2.05,0.00,0.000,6,0.192,0.033,2915,2334,1739
$GC,13575,1.14,438.8,359.5,15.4,1088,13579,0.00,2.03,0.00,0.000,4,0.000,0.031,2923,992,1736
$GC,13598,1.14,438.8,356.0,15.3,1090,13602,0.00,2.05,0.00,0.000,6,0.000,0.032,2923,2336,1736
$GC,13931,1.17,461.2,311.0,11.4,1121,13955,0.00,2.30,19.42,0.891,4,0.000,0.049,2923,3762,1650
$GC,14013,1.17,461.2,299.7,15.2,1128,14019,0.00,2.12,0.00,0.000,6,0.000,0.025,2931,2335,1648
$GC,14357,1.25,468.2,249.3,12.5,1189,14371,0.00,2.28,6.72,0.727,4,0.000,0.048,2932,3769,1622
$GC,14450,1.30,503.3,238.1,10.5,1205,14486,0.00,2.20,30.27,0.830,6,0.000,0.025,2941,2284,1478
$GC,14827,1.42,503.3,190.0,13.3,1271,14834,0.17,1.90,0.00,0.000,4,0.074,0.029,3020,995,1474
$GC,14875,1.33,503.3,181.4,18.2,1279,14881,0.20,1.98,0.00,0.000,6,0.181,0.031,2971,2307,1474
$GC,15220,1.42,521.4,133.7,11.7,1340,15244,0.00,2.30,15.75,0.709,4,0.000,0.046,2971,3758,1405
$GC,15297,1.43,531.0,124.4,12.4,1353,15311,0.00,2.15,9.40,0.658,6,0.000,0.022,2979,2287,1367
$GC,15650,1.62,564.9,77.2,10.6,1415,15684,0.20,0.00,28.75,0.673,6,0.071,0.000,3068,2286,1228
$GC,16023,1.62,564.9,23.6,14.4,1481,16030,0.00,2.30,0.00,0.000,4,0.000,0.044,3067,3759,1224
$STATE,16151,end climb,SURFACE_DEPTH_REACHED
$STATE,16151,begin surface coast
$FINISH,1.8,1.021462
$STATE,16160,end surface coast,CONTROL_FINISHED_OK
$STATE,16160,begin surface
$SM_CCo,16241,0.00,0.000,0,0,1222,566.64
$SM_GC,2.63,7.88,0.00,0.00,0.054,0.000,0.000,140,2443,1222,-7.50,-1.13,566.64
$IRIDIUM_FIX,2432.32,12424.16,211098,010114
$TT8_MAMPS,0.029146
$HUMID,1699
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.20
$XPDR_PINGS,2
$24V_AH,23.5,68.972
$10V_AH,10.7,37.692
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,27.825,139.300,570.325,0.000,0.000,29.316,34.614,197.873,7.750,0.000,0.000,14.921,2679.585,9872.201,665.896,2748.947,680.005,0.000,2082.811,0.000,2684.996,0.000,49.428,0.000
$DEVICE_MAMPS,231.634,53.690,1323.075,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1013.753,1037.818,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82195,1505
$CAP_FILE_SIZE,171992,0
$CFSIZE,260165632,193732608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.022,334.6,1
$GPS,270709,112025,2446.151,12427.821,39,1.0,40,-3.7